2-PrRS-PR(P)S并联变胞机构自由度分析与仿真
|
摘要
针对并联机构输出自由度固定,难以适应变化的环境和工况的问题。根据变胞理论中改变运动副方位特征实现构态变换的原理,设计一种新型可变转动副轴线的2-PrRS-PR(P) S并联变胞机构,通过机构的变胞实现机构在不同构态下输出自由度和工作空间的变化。2-PrRS-PR(P) S机构包含3个分支、动平台和静平台,利用移动副作为驱动副,其中分支2和分支3能够通过改变移动副的位移来改变的可转轴线转动副在滑槽中的位置,进而改变其转动轴线的方向,且分支1上连杆的移动副在轴线变化时被动作用,实现机构不同构态的变化。根据机构特点,利用螺旋理论对2-PrRS-PR(P) S机构2个工作构态进行自由度分析和计算,应用多自由度并联机构输入选取理论确定主动输入副。利用SolidWorks软件建立三维实体模型,并将2种工作构态模型分别导入到ADAMS软件,对其进行自由度的分析和验证。计算和仿真结果表明机构工作构态1具有x轴和y轴方向转动自由度、z轴方向移动自由度;机构在构态3具有x轴和z轴方向转动自由度、y轴方向移动自由度。机构能够根据需求改变工作构态实现输出变化。
Since the DOF of parallel mechanism is unchanged and can not adapt to the changing environment and working condition. Based on the theory of metamorphic that changing the orientation of kinematic pairs can lead to configuration transformation,a novel metamorphic parallel mechanism of 2-PrRS-PR( P) S mechanism that can change the orientations of the axis of the revolute pair has been designed to change the output and workspace. The mechanism comprises three limbs,moving platform and static platform. The prismatic pair is the drive pair. The revolute pair of limb 2 and limb 3 can change its rotation axis while the prismatic pair on the upper rod in limb 1 can change passively by the change of displacement of prismatic pair. According to the characteristics of the mechanism,the DOF of two configuration has been analyzed using the screw theory. The driving pair has been selected and verified by the theory of selecting input of multi-DOF parallel mechanism. Using SolidWorks software,the modelof the mechanism has been built and imported into the Adams software to analyze the mechanism's DOF. The calculation and simulation results show that the mechanism has two rotational freedom along the x and y axis,a translational freedom along the z axis in configuration 1,two rotational freedom along the x and z axis,and a translational freedom along the y axis in configuration 3. This parallel metamorphic mechanism can change its output according to requirements.
Since the DOF of parallel mechanism is unchanged and can not adapt to the changing environment and working condition. Based on the theory of metamorphic that changing the orientation of kinematic pairs can lead to configuration transformation,a novel metamorphic parallel mechanism of 2-PrRS-PR( P) S mechanism that can change the orientations of the axis of the revolute pair has been designed to change the output and workspace. The mechanism comprises three limbs,moving platform and static platform. The prismatic pair is the drive pair. The revolute pair of limb 2 and limb 3 can change its rotation axis while the prismatic pair on the upper rod in limb 1 can change passively by the change of displacement of prismatic pair. According to the characteristics of the mechanism,the DOF of two configuration has been analyzed using the screw theory. The driving pair has been selected and verified by the theory of selecting input of multi-DOF parallel mechanism. Using SolidWorks software,the modelof the mechanism has been built and imported into the Adams software to analyze the mechanism's DOF. The calculation and simulation results show that the mechanism has two rotational freedom along the x and y axis,a translational freedom along the z axis in configuration 1,two rotational freedom along the x and z axis,and a translational freedom along the y axis in configuration 3. This parallel metamorphic mechanism can change its output according to requirements.
引文
[1] Wahl J. Articulated tool head[P]. US,6431802 B1[P],2002-08-13.
[2] Bi Z M,Jin Y. Kinematic modeling of exechon parallel kinematic machine[J]. Robotics and Computer Integrated Manufacturing,2011,27(1):186-193.
[3]李端玲,张忠海,戴建生,等.变胞机构的研究综述与展望[J].机械工程学报,2010,46(13):14-21.LI Duan-ling,ZHANG Zhong-hai,DAI Jian-sheng,et al. Overview and prospects of metamorphic mechanism[J]. Journal of Mechanical Engineering,2010,46(13):14-21.
[4]戴建生,丁希仑,邹慧君.变胞原理和变胞机构类型[J].机械工程学报,2005,41(6):7-12.DAI Jian-sheng,DING Xi-lun,ZOU Hui-jun. Fundamentals and categorization of metamorphic mechanisms[J]. Journal of Mechanical Engineering,2005,41(6):7-12.
[5] Zhang K T,Dai J S,Fang Y. Topology and constraint analysis of phase change in the metamorphic chain and its evolved mechanism[J]. Journal of Mechanical Design,2010,132(12):121001.
[6] Gogu G. Mobility of mechanisms:a critical review[J].Mechanism&Machine Theory,2005,40(9):1068-1097.
[7]杨廷力,沈惠平,刘安心,等.机构自由度公式的基本形式、自由度分析及其物理内涵[J].机械工程学报,2015,51(13):69-80.YANG Ting-li,SHEN Hui-ping,LIU An-xin,et al. Review of the formulas for degrees of freedom in the past ten years[J]. Journal of Mechanical Engineering,2015,51(13):69-80.
[8]杨廷力,刘安心,罗玉峰,等.机器人机构结构综合方法的基本思想、特点及其发展趋势[J].机械工程学报,2010,46(9):1-11.YANG Ting-li,LIU An-xin,LUO Yu-feng,et al. Basic principles,main characteristics and development tendency of methods for robot mechanism structure synthesis[J]. Journal of Mechanical Engineering,2010,46(9):1-11.
[9]黄真,刘婧芳,李艳文. 150年机构自由度的通用公式问题[J].燕山大学学报,2011,35(1):1-14.HUANG Zhen,LIU Jing-fang,LI Yan-wen. 150-year unified mobility formula issue[J]. Journal of Yanshan University,2011,35(1):1-14.
[10]陈巧红,李秦川,武传宇,等.基于李群的两种1R3T并联机构自由度分岔[J].机械工程学报,2010,46(1):55-61.CHEN Qiao-hong,LI Qin-chuan,WU Chuan-yu,et al.Mobility bifurcation of two 1R3T parallel mechanisms based on lie group[J]. Journal of Mechanical Engineering,2010,46(1):55-61.
[11] Zhao J S,Feng Z J,Dong J X. Computation of the configuration degree of freedom of a spatial parallel mechanism by using reciprocal screw theory[J]. Mechanism&Machine Theory,2006,41(12):1486-1504.
[12] Li Q,Chai X,Xiang J. Mobility analysis of limited-DOF parallel mechanisms in the framework of geometric algebra[J]. Journal of Mechanisms&Robotics,2016,8(4):13-22.
[13]柴馨雪,李秦川. 3-PRRU并联机构自由度分析[J].浙江理工大学学报,2016,35(2):192-197.CHAI Xin-xue,LI Qin-chuan. Mobility analysis of a 3-PRRU parallel mechanism[J]. Journal of Zhejiang SciTech University,2016,35(2):192-197.
[14]廖明,刘安心,沈惠平,等.并联机构方位特征集的符号推导方法[J].农业机械学报,2016,47(3):395-404.LIAO Ming,LIU An-xin,SHEN Hui-ping,et al. Symbolic derivation of position and orientation characteristics of parallel mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):395-404.
[15]张二吻,茅健,王大志.调平二自由度球面并联机构运动学分析与求解[J].西安科技大学学报,2016,36(6):888-893.ZHANG Er-wen,MAO Jian,WANG Da-zhi. Kinematics analysis and solution of leveling spherical parallel mechanism with two degrees of freedom[J]. Journal of Xi’an University of Science and Technology,2016,36(6):888-893.
[16]刘宏伟.两种3-TPT并联机构的自由度及运动仿真研究[J].制造业自动化,2009,31(4):31-33.LIU Hong-wei. Analysis of the DOFs and kinematics simulation of two kinds of 3-TPT parallel mechansms[J]. Manufacturing Automation,2009,31(4):31-33.
[17]吴腾,张武翔,丁希仑.一种新型并联变胞机构的设计与分析[J].机械工程学报,2015(7):30-37.WU Teng,ZHANG Wu-xiang,DING Xi-lun. Design and analysis of a novel parallel metamorphic mechanism[J]. Journal of Mechanical Engineering,2015(7):30-37.
[18] Gan D M,Dai J S,et al. Reconfigurability and unified kinematics modeling of a 3rTPS metamorphic parallel mechanism with perpendicular constraint screws[J].Robotics and Computer-Integrated Manufacturing,2013,29(4):121-128.
[19]畅博彦,金国光,王艳.并联式球面变胞机构及其完整雅可比矩阵[J].农业机械学报,2013,44(10):260-265.CHANG Bo-yan,JIN Guo-guang,Wang Yan. Parallel spherical metamorphic mechanism and its complete jacobian matrix[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(10):260-265.
[20]李仕华,赵晓东,丁文华,等.多自由度并联机构输入选取理论的研究及应用[J].机械设计,2010,27(4):62-64.LI Shi-hua,ZHAO Xiao-dong,DING Wen-hua,et al.Research and application of input selecting theory of multi-DOF parallel mechanisms[J]. Journal of Mechine Design,2010,27(4):62-64.
[2] Bi Z M,Jin Y. Kinematic modeling of exechon parallel kinematic machine[J]. Robotics and Computer Integrated Manufacturing,2011,27(1):186-193.
[3]李端玲,张忠海,戴建生,等.变胞机构的研究综述与展望[J].机械工程学报,2010,46(13):14-21.LI Duan-ling,ZHANG Zhong-hai,DAI Jian-sheng,et al. Overview and prospects of metamorphic mechanism[J]. Journal of Mechanical Engineering,2010,46(13):14-21.
[4]戴建生,丁希仑,邹慧君.变胞原理和变胞机构类型[J].机械工程学报,2005,41(6):7-12.DAI Jian-sheng,DING Xi-lun,ZOU Hui-jun. Fundamentals and categorization of metamorphic mechanisms[J]. Journal of Mechanical Engineering,2005,41(6):7-12.
[5] Zhang K T,Dai J S,Fang Y. Topology and constraint analysis of phase change in the metamorphic chain and its evolved mechanism[J]. Journal of Mechanical Design,2010,132(12):121001.
[6] Gogu G. Mobility of mechanisms:a critical review[J].Mechanism&Machine Theory,2005,40(9):1068-1097.
[7]杨廷力,沈惠平,刘安心,等.机构自由度公式的基本形式、自由度分析及其物理内涵[J].机械工程学报,2015,51(13):69-80.YANG Ting-li,SHEN Hui-ping,LIU An-xin,et al. Review of the formulas for degrees of freedom in the past ten years[J]. Journal of Mechanical Engineering,2015,51(13):69-80.
[8]杨廷力,刘安心,罗玉峰,等.机器人机构结构综合方法的基本思想、特点及其发展趋势[J].机械工程学报,2010,46(9):1-11.YANG Ting-li,LIU An-xin,LUO Yu-feng,et al. Basic principles,main characteristics and development tendency of methods for robot mechanism structure synthesis[J]. Journal of Mechanical Engineering,2010,46(9):1-11.
[9]黄真,刘婧芳,李艳文. 150年机构自由度的通用公式问题[J].燕山大学学报,2011,35(1):1-14.HUANG Zhen,LIU Jing-fang,LI Yan-wen. 150-year unified mobility formula issue[J]. Journal of Yanshan University,2011,35(1):1-14.
[10]陈巧红,李秦川,武传宇,等.基于李群的两种1R3T并联机构自由度分岔[J].机械工程学报,2010,46(1):55-61.CHEN Qiao-hong,LI Qin-chuan,WU Chuan-yu,et al.Mobility bifurcation of two 1R3T parallel mechanisms based on lie group[J]. Journal of Mechanical Engineering,2010,46(1):55-61.
[11] Zhao J S,Feng Z J,Dong J X. Computation of the configuration degree of freedom of a spatial parallel mechanism by using reciprocal screw theory[J]. Mechanism&Machine Theory,2006,41(12):1486-1504.
[12] Li Q,Chai X,Xiang J. Mobility analysis of limited-DOF parallel mechanisms in the framework of geometric algebra[J]. Journal of Mechanisms&Robotics,2016,8(4):13-22.
[13]柴馨雪,李秦川. 3-PRRU并联机构自由度分析[J].浙江理工大学学报,2016,35(2):192-197.CHAI Xin-xue,LI Qin-chuan. Mobility analysis of a 3-PRRU parallel mechanism[J]. Journal of Zhejiang SciTech University,2016,35(2):192-197.
[14]廖明,刘安心,沈惠平,等.并联机构方位特征集的符号推导方法[J].农业机械学报,2016,47(3):395-404.LIAO Ming,LIU An-xin,SHEN Hui-ping,et al. Symbolic derivation of position and orientation characteristics of parallel mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(3):395-404.
[15]张二吻,茅健,王大志.调平二自由度球面并联机构运动学分析与求解[J].西安科技大学学报,2016,36(6):888-893.ZHANG Er-wen,MAO Jian,WANG Da-zhi. Kinematics analysis and solution of leveling spherical parallel mechanism with two degrees of freedom[J]. Journal of Xi’an University of Science and Technology,2016,36(6):888-893.
[16]刘宏伟.两种3-TPT并联机构的自由度及运动仿真研究[J].制造业自动化,2009,31(4):31-33.LIU Hong-wei. Analysis of the DOFs and kinematics simulation of two kinds of 3-TPT parallel mechansms[J]. Manufacturing Automation,2009,31(4):31-33.
[17]吴腾,张武翔,丁希仑.一种新型并联变胞机构的设计与分析[J].机械工程学报,2015(7):30-37.WU Teng,ZHANG Wu-xiang,DING Xi-lun. Design and analysis of a novel parallel metamorphic mechanism[J]. Journal of Mechanical Engineering,2015(7):30-37.
[18] Gan D M,Dai J S,et al. Reconfigurability and unified kinematics modeling of a 3rTPS metamorphic parallel mechanism with perpendicular constraint screws[J].Robotics and Computer-Integrated Manufacturing,2013,29(4):121-128.
[19]畅博彦,金国光,王艳.并联式球面变胞机构及其完整雅可比矩阵[J].农业机械学报,2013,44(10):260-265.CHANG Bo-yan,JIN Guo-guang,Wang Yan. Parallel spherical metamorphic mechanism and its complete jacobian matrix[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(10):260-265.
[20]李仕华,赵晓东,丁文华,等.多自由度并联机构输入选取理论的研究及应用[J].机械设计,2010,27(4):62-64.LI Shi-hua,ZHAO Xiao-dong,DING Wen-hua,et al.Research and application of input selecting theory of multi-DOF parallel mechanisms[J]. Journal of Mechine Design,2010,27(4):62-64.